System and method for reconstructing and positioning three-dimensional environment for mirror cleaning robot
A cleaning robot and three-dimensional reconstruction technology, applied in the direction of instruments, surveying and mapping and navigation, measuring devices, etc., can solve the problem that the positioning cannot meet the accuracy requirements, and achieve the effect of low cost and convenient realization
Active Publication Date: 2014-08-20
ZHEJIANG GUOZI ROBOT TECH
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Problems solved by technology
[0008] The first purpose of the present invention is to provide a system for three-dimensional reconstruction and positioning of a mirror cleaning robot, so as to solve the technical problem in the prior art that the positioning cannot meet the accuracy requirements on road conditions with poor flatness
[0009] The second purpose of the present invention is to provide a method for three-dimensional reconstruction and positioning of a mirror cleaning robot, so as to solve the technical problem in the prior art that the positioning cannot meet the accuracy requirements on road conditions with poor flatness
Method used
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[0036] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0037] see figure 1 , figure 2 , image 3 , a system for three-dimensional reconstruction and positioning of a mirror cleaning robot. For installation on the front part of the mirror cleaning robot, it further includes a laser ranging sensor 15, a motor 11, an eccentric wheel 13, a swing bracket, an absolute encoder, a MEMS inertial sensor, a host computer and an odometer, wherein,
[0038] The eccentric wheel 13 is fixed on the motor 11, and is driven on the swing bracket, and is used to convert the rotational motion of the motor into the swing motion of the bracket.
[0039] The laser ranging sensor 15 is fixedly connected to the swing bracket, and is used for moving with the swing motion of the swing bracket, and obtaining laser scanning data;
[0040] The absolute value encoder is arranged on the rocking axis of the laser ranging sensor 15, and is used for d...
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A system for reconstructing and positioning a three-dimensional environment for a mirror cleaning robot comprises a laser distance measuring sensor, a motor, an eccentric wheel, a swing bracket of a bracket, an absolute value encoder, an MEMS (Micro-electromechanical System) inertial sensor, a host computer and a mileage recorder, wherein the bracket is arranged on the mirror cleaning robot; the motor is arranged at the front end of the bracket; the eccentric wheel is connected with the motor, and is in transmission with the bracket so as to convert the rotation movement of the motor into the swing movement of the bracket; the laser distance measuring sensor is linked with the bracket and used for obtaining the laser scanning data between obstacles in a real-time manner; the absolute value encoder is arranged on the swing shaft of the laser distance measuring sensor and used for directly measuring the swing angle of the laser distance measuring sensor relative to a vehicle body; the MEMS inertial sensor is mounted on the swing bracket and used for measuring the horizontally rolling angle and the pitching angle of the vehicle body relative to the geographic horizontal plane when the vehicle body moves on uneven ground; and the host computer is connected with the laser distance measuring sensor, the absolute value encoder, the MEMS inertial sensor and the mileage recorder, and is used for receiving the data sent by the laser distance measuring sensor and the like, building a 3D outline drawing, extracting the coplanar data points from three-dimensional data points, and defining the position of a truss.
Description
field of invention [0001] The invention generally relates to the field of solar thermal power generation, in particular to a system and method for three-dimensional reconstruction and positioning of a mirror cleaning robot. Background technique [0002] Solar thermal power generation, also known as Concentrating Solar Power (CSP for short), uses a large number of mirrors to gather direct solar light in a focused manner, heats the working medium, and generates high-temperature and high-pressure steam, which drives a steam turbine to generate electricity. [0003] The solar mirror field is mainly composed of a large number of trusses and plane reflectors installed on them. In order to improve the light and heat utilization rate per unit land area, the adjacent trusses are arranged compactly. The plateau area where the mirror site is located has a large temperature difference throughout the year, and the flatness of the entire mirror site may change. The mirror cleaning robot ...
Claims
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IPC IPC(8): G01C21/00G01B21/20
Inventor 陶熠昆吴剑沈慧沈继中
Owner ZHEJIANG GUOZI ROBOT TECH